A combined control method for turning motion of snake-like biomimetic robot
A bionic robot and combined control technology, which is applied to the control of the turning motion of a snake-shaped bionic robot, and the combined control of the turning motion of a snake-shaped bionic robot, can solve the problem of inaccurate turning angle of the robot, large turning radius of the amplitude control method, and turning time. Long and other problems, to achieve the effect of accurate turning of the snake-shaped robot, improved movement stability, and short turning time
Inactive Publication Date: 2017-07-11
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
[0004] Compared with traditional industrial robots, the snake-like bionic robot has no fixed base coordinates, and the joint torque is related to the rotation angle during the movement process. Kinematics, dynamics modeling is much more complex than serial robots
[0005] At present, the turning control methods commonly used by most bionic robot snakes include central value control method, phase control method and amplitude control method. Accurate, the joint angle changes greatly, causing the robot to shake; the phase control method has obvious mutations in the joint angle when turning, causing the robot to shake successively in each joint; the amplitude control method has a large turning radius and takes a long time
[0006] In addition, the tangent control method of the turning motion of the snake-like bionic robot has the following three disadvantages when operating with variable amplitude: (1) The turning time is long; (2) It seriously affects the motion stability of the snake-like bionic robot; (3) After the turning motion is completed, it is necessary to perform the variable amplitude operation again to speed up the robot's movement speed, which increases the burden on the system
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[0030] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention based on different amplitude angles and turning angles will be described in detail below in conjunction with specific examples and drawings.
[0031] A combined control method for the turning motion of a snake-like bionic robot disclosed by the invention comprises the following steps:
[0032] Step 1: In order to reduce the turning time and enhance the motion stability of the snake-like bionic robot, an amplitude adjustment factor ζ (ζ > 0) for adjusting the amplitude angle α is introduced, so that the amplitude angle α before adjustment 1 and the adjusted amplitude angle α 2 satisfy the formula (1),
[0033] alpha 2 =ζα 1 (1)
[0034] Step 2: In order to ensure the continuity of the change of the joint angle θ(s) after changing the amplitude, the joint angle θ(s) should satisfy the formula (2),
[0035] θ(s)=α 1 cos(bs f )=α 2 cos(bs f )=0 (...
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The invention discloses a combined control method for turning motion of a snake-shaped bionic robot and belongs to the field of robot control. The combined control method comprises the following steps of introducing an amplitude adjustment factor zeta for adjusting an amplitude angle alpha; when phi is smaller than alpha, adopting an equation set (5) to control a snake-like curve in the turning process of the snake-shaped bionic robot to be kept unchanged, guaranteeing the continuousness of a turning angle phi, and improving the motion stability; when the phi is greater than alpha, simultaneously performing turning operation and adjusting the amplitude angle alpha by adjusting the amplitude adjustment factor zeta in the turning process of the snake-shaped bionic robot; adopting the equation set (5) to control for realizing the effect that the turning angle phi and the snake-like curve before turning are maintained when the snake-shaped bionic robot performs turning motion; and restoring the motion state of the snake-shapedbionic robot to an original state while finishing turning. The invention aims to solve the technical problem that the turning time is further shortened on the basis of realizing the advantages of a tangent control method, and the motion stability of the snake-shaped bionic robot is enhanced.
Description
technical field [0001] The invention relates to a control method for the turning motion of a snake-like bionic robot, in particular to a combined control method for the turning motion of a snake-like bionic robot, which belongs to the field of robot control. Background technique [0002] The snake-like bionic robot is a snake-like robot with multi-joint, high redundancy, and limbless structure. It has the advantages of stable motion, changeable motion forms, and strong environmental adaptability. fields have broad application prospects. [0003] When the snake-like bionic robot is moving, it will inevitably encounter insurmountable obstacles or a certain angle between the direction of motion and the target, which requires the robot to make direction adjustments according to its own structure and the current environment to avoid obstacles Or adjust the direction to align with the target. [0004] Compared with traditional industrial robots, the snake-like bionic robot has n...
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IPC IPC(8): B25J9/16B25J9/06
CPCB25J9/065B25J9/163
Inventor 邓宏彬王超彭演宾彭腾赵娜李东方李科伟张国秀陈振满
Owner BEIJING INSTITUTE OF TECHNOLOGYGY